Title page for etd-0708118-204726


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URN etd-0708118-204726
Author Yao-ching Wu
Author's Email Address No Public.
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Department Mechanical and Electro-Mechanical Engineering
Year 2017
Semester 2
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Attitude analysis for horizontal linear motion of a quadrotor helicopter
Date of Defense 2018-07-26
Page Count 85
Keyword
  • attitude analysis
  • planar linear motion
  • quadrotor helicopter
  • dynamic equations
  • initial angles
  • Abstract In recent years, due to maturity of micro-electromechanical fabrication techniques as well as rapid development of long-distance communication and mechanical structure materials, lightweight and highly mobile unmanned autonomous aircraft such as quadrotor helicopters play an indispensable role in many fields.
    The planar linear motion is the most basic flying mode of a quadrotor helicopter. It is always demanded for applications that require a planar linear motion without changing attitude of the rotorcraft. Nevertheless, understanding of the planar linear motion of the quadrotor helicopter is still limited. Based on this motivation, the thesis aims to investigate the dynamic characteristics and constraints for planar linear motions of the quadrotor helicopter. Research subjects include the influence of the starting attitude angles before take-off of the rotorcraft on its planar linear motion, and the conditions for the rotorcraft maintaining a fixed attitude while it is performing a planar linear motion. The objective is to obtain conditions to achieve stable planar linear motion for the quadrotor helicopter for any initial values of attitude angles. This thesis starts with derivation of dynamics of the quadrotor helicopter to obtain its complete dynamic equations. These dynamic equations are then deeply studied to analyze the influence of initial angles on the attitude of the rotorcraft in planar linear motions. Relying on the complete mathematical model and computer simulations, the constraints maintaining planar linear motions for the quadrotor helicopter under the effect of three attitude angles can be summarized.
    Advisory Committee
  • Hsin-Hung Chen - chair
  • Jheng-Yi Chen - co-chair
  • Chi-Cheng Cheng - advisor
  • Files
  • etd-0708118-204726.pdf
  • Indicate in-campus at 2 year and off-campus access at 2 year.
    Date of Submission 2018-08-13

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